Inertial stabilization platform unbalanced disturbance inhibition method

Abstract

The invention relates to an inertial stabilization platform unbalanced disturbance hibition method. According to the method, a feedforward controller and a disturbance observer are adopted, wherein the feedforward controller comprises the proportional loop so as to change the unbalanced disturbance of the platform into the compensation current and feedforward back to the platform circuit loop, and drive the motor to produce the control moment, wherein the sizes of the moment and the unbalanced disturbance are equal, and the directions of the moment and the unbalanced disturbance are opposite; and the disturbance observer comprises a low-pass filter and a platform nominal model, wherein the low-pass filter can concurrently provide functions of inhibition of the low frequency unbalanced disturbance and elimination of the influence of the high frequency noise. According to the present invention, the established unbalanced disturbance model is used, the feedforward and disturbance observer comprehesive control method is adopted to achieve the inhibition on the disturbance observer, the control method integratedly utilizes the advantages of the two methods feedforward and disturbance observer, the influence of the unbalanced disturbance pn the platform performance is reduced, the stability precision of the inertial stabilization platform is significantly improved, and the inertial stabilization platform unbalanced disturbance hibition method is simple and is easy to perform, and is suitable for inhibition on the inertial stabilization platform unbalanced disturbance.

Description

Technical field [0001] The invention relates to a method for suppressing unbalanced disturbances of an inertial stabilized platform, which is used to suppress unbalanced disturbances in an inertial stabilized platform system, modeling errors of unbalanced disturbances and other disturbances in the system, and is suitable for inertially stabilized platforms. Balance the suppression of disturbances. Background technique [0002] High-resolution Earth observation systems are widely used in military reconnaissance, basic surveying and mapping, disaster monitoring and other fields. To achieve an ideal earth observation, the camera load is required to be stable. However, in actual situations, due to the influence of atmospheric turbulence and its own disturbance, it is difficult for the camera load to maintain an ideal stable state, which makes the visual axis unstable and leads to imaging The quality decreases and the resolution decreases. In order to improve the imaging quality, th...

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Problems solved by technology

Among them, the unbalanced disturbance is one of the main disturbances of the inertial stable platform, which will seriously affect the stability accuracy of the inertial stable platform. The conventional PID controller often has poor parameter setting and poor performance, and it is difficult to meet the high-precision control requirements of the inertial stable platform; Moreover, feedback control is based on error control, which can only work after the disturbance enters and affects the system. There is a certain delay in compensation, and the suppression effect on disturbance is limited.

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